m lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( d ç ã...2015/06/29 · i Ê è Ð Ä &...
TRANSCRIPT
![Page 1: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/1.jpg)
Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015 1
2015.6.29
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• 2011 3 11 14:46 • M9.0 • 7
15892 2576
27 6 10
• 30 1• 40.5[m]
130[Km] 24[Km]
M7.3 6437
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! (14:47) ! ! ! SCRAM! ! ! (SBO:
Situation of Black Out) (15:39)
!
! ! ! 3 12 15
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• – 1979 3 28 – Level 5
• – 1986 4 26 – Level 7
• JCO – 1999 9 30 – Level 4
• – 2011 3 11 – Level 7
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![Page 6: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/6.jpg)
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![Page 7: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/7.jpg)
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![Page 8: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/8.jpg)
1 2mSv/h
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![Page 10: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/10.jpg)
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17
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PT
![Page 13: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/13.jpg)
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![Page 14: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/14.jpg)
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• – – – –
• – – –
– – – –
15
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ROBOTADROBOtics Task force for Anti-Disaster (ROBOtics - Temporary Active Duty)
http://roboticstaskforce.wordpress.com/
• 3 31• •
– – –
• – – HP– PT
• 5• (IRS)
Anchorman: Chairman:
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2011 4 6
• • JV • 4/6
– 1 2– 0 1– 11t 1 3– 1 2– 1 9
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![Page 20: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/20.jpg)
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1991
![Page 21: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/21.jpg)
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Packbot 2011 4 17, 18
•
• – iRobot Packbot 2– 70× 53× 18 [cm] – 35[kg] –
![Page 22: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/22.jpg)
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Packbot
![Page 23: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/23.jpg)
Quince
2011 6 24 Quince
![Page 24: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/24.jpg)
LED
LED
500m
50m
Quince
![Page 25: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/25.jpg)
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Quince1 5 2011 10 20
![Page 26: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/26.jpg)
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Packbot Quince CS
2011 7 22 26
• CS
•
![Page 27: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/27.jpg)
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2013 11 13
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1/2号機3Dレーザースキャンによる3D環境モデルの作成 (2013年12月26日)
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2014 3 13 14 2014 3 21 22
Warrior Packbot MEISTeR
Warrior
![Page 31: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/31.jpg)
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IRID GE
![Page 32: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/32.jpg)
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GE
4
![Page 33: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/33.jpg)
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PCV GE 2015 4 12 19
![Page 34: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/34.jpg)
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2015年4月13日
PCV GE 2015 4 12 19
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2015年4月19日
PCV GE 2015 4 12 19
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Putzmeister
iRobot Packbot
Honeywell T-HAWK
QinetiQ Talon
QinetiQ Bob Cat
Brokk Brokk-90
Brokk Brokk-330
iRobot Warrior Pentek Moose
![Page 37: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/37.jpg)
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FRIGO-MA
Survey Runner
4
ROV
ASTACO-SORA
Quince 2 Quince 3 JAEA-3Quince
Sakura
Rosemary
S/C
PCV
![Page 38: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/38.jpg)
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IRS CMU
![Page 39: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/39.jpg)
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2011.4.3
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Gap
•
•
![Page 41: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/41.jpg)
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• – – – – JCO
• – – – –
![Page 42: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/42.jpg)
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AIMARS
1983-1990
1999-2003
![Page 43: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/43.jpg)
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JCO( 2001)
MARS-A
MARS-T
SMERT-M
SMERT-K
SWAN
MENHIR
![Page 44: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/44.jpg)
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JCO2001
RESQ-A RESQ-B RESQ-C
RESQ: Remote Surveillance Squad
: 1, Vol.19, No.6, pp.706-709, 2001.
: 2, Vol.19, No.6, pp.710-713, 2001.
RaBOT: Radiation-proof Robot
![Page 45: M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM _Ê q O + Mª ® à ù n S² v !_ M 8 @ ; l g j g _ û á Ñ Å á ñ ú \ ö¬ 6](https://reader033.vdocuments.mx/reader033/viewer/2022042301/5ecbab07f7e22641b0494320/html5/thumbnails/45.jpg)
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• – M 50% 4
• – –
10 10 –
Anchoriver III�
Hexa-rotor MAV
Kohga3�Quince�
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ASTACO-SoRa�
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Inspiration and Goals
47 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
1. Target disaster response in dangerous
environments, and important DoD capability for
HADR (Humanitarian Assistance and Disaster
Relief) missions
2. Advance supervised autonomy, mobility,
manipulation, and energetic efficiency.
3. Catalyze the robotics industry by developing a
validated, real-time, operator-interactive
simulator.
4. Welcome a wide range of international
contributors including traditional and non-
traditional DARPA performers from a variety of
fields.
Man-Computer Symbiosis J. C. R. Licklider (head of DARPA IPTO 1962)
IRE Transactions on Human Factors in Electronics, volume HFE-1, pages 4-11, March 1960
“… close study of the disaster’s first 24 hours, before the cascade of failures carried reactor 1 beyond any hope of salvation, reveals clear inflection points where minor differences would have prevented events from spiraling out of control.” IEEE Spectrum, November 2011 pg. 36.
Fukushima - 2011
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Example Disaster Challenge Scenario
48 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
Autono
my121P
ercep6
on
Autono
my1–1De
cisio
n2making
Mou
nted
1Mob
ility
Dism
ounted
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ility
Dexterity
Strength
Endu
rance
1.11Drive1u6lity1vehicle1to1site X X X X
2.11Travel1dismounted1across1rubble X X X
3.11Remove1debris1blocking1entryway X X X X X
4.11Open1door,1enter1building X X X X
5.11Climb1industrial1ladder,1traverse1industrial1walkway X X X
6.11Use1tool1to1break1through1concrete1panel X X X X X
7.11Locate1and1close1valve1near1leaking1pipe X X X X X X
8.11Replace1component X X 1 1 X 1 1
Task
s
Capabilities
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Participation Options
49 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
Track A - Funded Teams design and build platform systems to participate in Disaster Response Challenge. Track B –– Teams develop algorithms using DARPA provided Simulator. Disaster Virtual Challenge conducted to identify which teams will be provided Government Furnished Equipment (GFE) Robot and additional funding to participate in Disaster Response Challenge Track C – Unfunded teams use Simulator to and develop algorithms and participate in Disaster Virtual Challenge and will compete along with Track B teams for GFE Robot and funding award Track D – Unfunded teams develop platforms to compete in Disaster Response Challenges
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Planned Schedule and Funding
50 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)
2013.12 2014.12
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15/07/07 51 Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.
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Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015 5252
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Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015 59
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